Abstract Few studies have quantitatively analyzed the relationship among step distance, driving voltage, and frequency of inchworm linear microactuator, which cannot achieve accurate control micro-actuator. What’s more, parameter setting rule is not clear. In this paper, model studied through theoretical derivation experimental analysis. The conditions drive signal are analyzed, waveform modifi...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

This study is devoted to providing predictions of the pull-in parameters (pull-in voltage and pull-in displacement) of electro-statically actuated micro-beams based on a continuous model using Genetic Algorithm (GA) technique. A phenomenon in which the actuated electrode comes in direct contact with the fixed electrode due to the electrostatic force is called pull-in instability. Accurate deter...

The static response of an electrostatic micro-catilever beam has been obtained by using Galerkin’s method. To make the system bi-stable, a controller has been added and the static response profile is presented using a multi-mode model for the beam. The number of mode shapes leading to convergence has been studied. The softening effect of adding more mode shapes has been investigated along with ...

The technique used to control the airflow is based on the electro-hydrodynamic actuator which is also called plasma actuator. This actuator ensures the airflow control thanks to the electric wind created by the electrical corona discharge. This ionic wind is developed at the profile surface tangential to the initial free airflow so that it has a significant effect on the boundary layer flow. Th...

The increase in aerial storage capacities of future magnetic hard disk drives has fostered the use of dual-stage actuators for high track density data recording. In a hard disk drive with a dual-stage actuator the standard rotary actuation of the voice coil motor is combined with an additional micro or milli actuation to accomplish high-bandwidth and highly accurate track following. In order to...

This paper presents a shape memory alloy (SMA) ac-tuator aimed to be integrated in the phalanx of a dex-terous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are speciied. A thermo-mechanical model of the SMA bers ...

Arrays of electrostatic MEMS actuators have been fabricated using a multi-layer SCREAM (Single-Crystal Reactive Etching and Metallization) process. The high aspect ratio single-crystal silicon (SCS) devices consist of released, torsionally suspended grids with tips. Experiments and calculations show that the actuator array is strong enough to move macroscopic parts. An individual actuator can g...

IONIC POLYMER-METAL COMPOSITE ARTIFICIAL MUSCLES AND SENSORS: A CONTROL SYSTEMS PERSPECTIVE By Zheng Chen Ionic polymer metal composites (IPMCs) form an important category of electroactive polymers (EAPs), also known as artificial muscles. IPMCs have many potential applications in robotics, biomedical devices, and micro/nano manipulation systems. In this dissertation, a systems perspective is t...